CN108890685B - Flexible clamp - Google Patents
Flexible clamp Download PDFInfo
- Publication number
- CN108890685B CN108890685B CN201811159259.5A CN201811159259A CN108890685B CN 108890685 B CN108890685 B CN 108890685B CN 201811159259 A CN201811159259 A CN 201811159259A CN 108890685 B CN108890685 B CN 108890685B
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- Prior art keywords
- grabbing
- grabbed
- sleeve
- elastic film
- elastic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a flexible clamp, and belongs to the technical field of clamps. The flexible clamp comprises a support and at least one elastic membrane sleeve, wherein the elastic membrane sleeve is arranged at the end part of the support, the elastic membrane sleeve is sleeved on the inner wall and/or the outer wall of the support, the elastic membrane sleeve comprises a base and a grabbing part for grabbing a grabbed object, and the base is connected with the support. The flexible clamp can effectively grasp and move irregular special-shaped objects or objects with higher surface requirements, and can clamp or move the objects to be grasped in the conventional shape and special shape through elastic deformation of the elastic film sleeve and friction force between the elastic film sleeve and the objects to be grasped, so that the application range of the clamp is enlarged, surface damage of the objects to be grasped is avoided, and the flexible clamp is suitable for carrying and transferring the objects in industrial production.
Description
Technical Field
The invention relates to the technical field of clamps, in particular to a flexible clamp.
Background
The existing clamping or positioning device is mainly applied to standard workpieces or a plurality of standard workpieces, the positions of the standard workpieces are fixed, the clamp is in a fixed mode and can only be applied to the standard workpieces, so that the clamping or positioning of a plurality of special materials is difficult to realize, and particularly, the special materials have higher requirements on the surfaces, no damage and no scratch are required to be realized, and the existing clamp can not realize nondestructive clamping or positioning.
Disclosure of Invention
The invention aims to solve the problems, and provides a flexible clamp which can effectively grasp and move irregular special-shaped objects or objects with higher surface requirements, is suitable for carrying and transferring the objects in industrial production, and improves the problems.
The invention is realized in the following way:
the embodiment of the invention provides a flexible clamp, which comprises a bracket and at least one elastic film sleeve, wherein the elastic film sleeve is arranged at the end part of the bracket, the elastic film sleeve comprises a base and a grabbing part for grabbing objects to be grabbed, the grabbing part is connected with the base, and the base is propped against the inner wall of the bracket and/or sleeved on the outer wall of the bracket.
In an alternative embodiment of the invention, the support comprises a containing cavity with an opening at one end, at least one elastic film sleeve is distributed along the axis direction of the support, the elastic film sleeve is positioned in the containing cavity and positioned at the opening end of the containing cavity, the base is propped against the inner wall of the support, and the grabbing part is positioned in the middle of the elastic film sleeve.
In an alternative embodiment of the present invention, the support is provided with an ejection hole corresponding to the gripping portion, and the ejection hole is communicated with the accommodating cavity.
In an alternative embodiment of the present invention, the elastic film sleeve is provided with a gripping hole, and the edge of the gripping hole forms the gripping part.
In an alternative embodiment of the present invention, the grabbing hole is a round hole or a conformal hole.
In an alternative embodiment of the present invention, a plurality of buffer slits are formed in the circumferential direction of the grabbing hole.
In an alternative embodiment of the present invention, the gripping portion includes a plurality of gripping fingers, the plurality of gripping fingers are rotationally symmetrical along a center of the elastic membrane sleeve, free ends of the plurality of gripping fingers form a gripping hole, and a buffer groove is formed between two adjacent gripping fingers.
In an alternative embodiment of the present invention, two elastic film sleeves are provided, and the two elastic film sleeves are distributed at intervals along the axial direction of the bracket.
In an alternative embodiment of the present invention, the base is located in the middle of the elastic membrane sleeve, the base is sleeved on the outer wall of the support, the edge of the elastic membrane sleeve forms the grabbing portion, and the grabbing portion is used for grabbing a grabbed object with a cavity.
The embodiment of the invention also provides a flexible fixture, which comprises a bracket and at least one elastic membrane sleeve, wherein the bracket is provided with a plurality of through holes distributed in a matrix, the elastic membrane sleeve is connected with the bracket, the elastic membrane sleeve is provided with a plurality of grabbing holes corresponding to the through holes, the diameter of each grabbing hole is smaller than that of the through hole, and the edges of the grabbing holes form grabbing parts for grabbing objects to be grabbed.
Compared with the prior art, the invention has the beneficial effects that:
the flexible clamp can effectively grasp and move irregular special-shaped objects or objects with higher surface requirements, and is suitable for carrying and transferring the objects in industrial production.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a flexible clip according to a first embodiment of the present invention;
FIG. 2 is a schematic view of the flexible clamp of FIG. 1 and a clamped object;
FIG. 3 is a schematic view of a structure of the elastic membrane sleeve of FIG. 1;
FIG. 4 is a schematic view of another construction of the elastic membrane sleeve of FIG. 1;
FIG. 5 is a schematic view of the structure of the buffer slit of the elastic membrane sleeve;
FIG. 6 is a schematic view of the structure of two elastic membrane sleeves;
FIG. 7 is a schematic view illustrating a gripping state of the flexible clip and the gripped object of FIG. 6;
FIG. 8 is a schematic view of the elastic membrane sleeve of the flexible clamp according to the second embodiment of the present invention;
FIG. 9 is a schematic structural view of a flexible clip according to a third embodiment of the present invention;
FIG. 10 is a schematic view showing a gripping state of the flexible clip and the gripped object of FIG. 9;
FIG. 11 is a schematic structural view of a flexible clip according to a fourth embodiment of the present invention;
fig. 12 is a cross-sectional view of fig. 11.
Icon: 100-flexible clamp; 300-a flexible clamp; 400-flexible clamp; 10-a bracket; 101-a receiving chamber; 102-ejection holes; 11-an elastic membrane sleeve; 111-a base; 112-a gripping part; 113-a grabbing hole; 114-buffering the seam; 12-an elastic membrane sleeve; 121-grabbing fingers; 122-buffer tank; 30-a bracket; 302-an ejection hole; 31-an elastic membrane sleeve; 311-base; 312-grasping portions; 40-bracket; 401-a through hole; 402-a first plate; 403-a second plate; 41-an elastic membrane sleeve; 412-a grip; 413-a grasping hole; 7-ejecting a column; 71-rubber pads; 8-a grabbed object; 81-cavity.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, the azimuth or positional relationship indicated by the terms "inner", "outer", etc. are based on the azimuth or positional relationship shown in the drawings, or the azimuth or positional relationship in which the inventive product is conventionally put in use, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
First embodiment
Referring to fig. 1, the present embodiment provides a flexible fixture 100, which includes a bracket 10 and at least one elastic membrane sleeve 11.
In this embodiment, the support 10 is used for being connected with a moving or positioning mechanism, an end portion of the support 10 is provided with a containing cavity 101 with an opening, the containing cavity 101 is used for containing the object 8 to be grabbed, the elastic membrane sleeve 11 is located in the containing cavity 101, the elastic membrane sleeve 11 is sleeved on the inner wall of the support 10, the elastic membrane sleeve 11 comprises a base 111 and a grabbing portion 112 used for grabbing the object 8 to be grabbed, the base 111 abuts against the inner wall of the support 10, the grabbing portion 112 is located in the middle of the containing cavity 101, and the grabbing portion 112 is used for being sleeved on the outer portion of the object 8 to be grabbed so as to grab the object 8 to be grabbed. The flexible clamp 100 is arranged on the surface of the object 8 to be grabbed by using the elastic sleeve of the elastic film sleeve 11 and is firmly connected with the object 8 to be grabbed, so that grabbing or moving of the object 8 to be grabbed is realized, and the elastic film sleeve 11 also plays a role in protecting the surface of the object 8 to be grabbed.
The specific structure of each component of the flexible jig 100 and the positional relationship with each other are described in detail below.
The support 10 is used for connecting with a moving or positioning mechanism (not shown) and is applied to the moving or positioning operation of an object; the support 10 plays a role in supporting the elastic membrane sleeve 11, and the elastic membrane sleeve 11 is arranged at the end part of the support 10, so that the elastic membrane sleeve 11 acts on the object 8 to be grabbed. The elastic membrane sleeve 11 abuts against the inner wall of the support 10 and/or is sleeved on the outer wall of the support 10, the elastic membrane sleeve 11 comprises a base 111 and a grabbing portion 112 for grabbing the object 8, and the base 111 is connected with the support 10. The elastic membrane sleeve 11 may be sleeved on the inner wall of the bracket 10, may be sleeved on the outer wall of the bracket 10, and may be sleeved on the inner wall and the outer wall of the bracket 10. When the elastic film sleeve 11 acts on the outer surface of the cylindrical or irregularly-shaped grabbed object 8, the elastic film sleeve 11 is sleeved on the inner wall of the support 10, and at the moment, the end part of the support 10 adopts a surrounding or semi-surrounding structure, so that the elastic film sleeve 11 is conveniently connected with the support 10; when the elastic film sleeve 11 acts on the object 8 to be grabbed with the cavity, the elastic film sleeve 11 is sleeved on the outer wall of the bracket 10; when the elastic membrane sleeve 11 acts on the irregularly shaped gripped object 8 having the cavity, the elastic membrane sleeve 11 may be sleeved on the inner wall and the outer wall of the bracket 10.
In this embodiment, as shown in fig. 1, the end (the end far away from the moving or positioning mechanism) of the support 10 is provided with a receiving cavity 101 with an opening at one end, which corresponds to the end of the support 10 adopting a surrounding or semi-surrounding structure, when the support 10 is used for grabbing the object 8, the object 8 can be received in the receiving cavity 101.
As shown in fig. 1, the elastic membrane sleeves 11 are located at the opening end of the accommodating cavity 101 and are sleeved on the inner wall of the bracket 10, and at least one elastic membrane sleeve 11 is distributed along the axial direction of the bracket 10. The base 111 is connected with the inner wall of the support 10, so that the elastic membrane sleeve 11 is fixed in the accommodating cavity 101 of the support 10, the grabbing portion 112 is located in the middle of the elastic membrane sleeve 11, and the acting force of the elastic membrane sleeve 11 on the object 8 to be grabbed is balanced when the grabbing portion 112 acts on the object 8 to be grabbed.
In this embodiment, the elastic film cover 11 is provided with a gripping hole 113, the edge of the gripping hole 113 forms a gripping portion 112, the elastic film cover 11 is suitable for gripping the object 8 by using the suction/suction type gripping device, the gripping hole 113 of the elastic film cover 11 forms an enclosed space, the enclosed space is adapted to the shape of the object 8, and the enclosed space of the elastic film cover 11 is smaller than the outline size of the object 8. When acting on the object 8 to be grabbed, as shown in fig. 2, the elastic film sleeve 11 is sleeved outside the object 8 to be grabbed, the elastic film sleeve 11 is tightly connected with the object 8 to be grabbed through elastic deformation of the elastic film sleeve 11, and positioning or movement of the object 8 to be grabbed is achieved through friction force between the elastic film sleeve 11 and the object 8 to be grabbed.
In this embodiment, the thickness of the elastic film cover 11 can be adjusted according to the quality and surface elasticity of the object to be gripped (the object 8 to be gripped), and the gripping force is greater as the thickness of the elastic film cover 11 is greater.
In this embodiment, the elastic film sleeve 11 is a silica gel/rubber film sleeve, has a certain elasticity, can be deformed under force, and has a restoring force, so that the elastic film sleeve 11 and the object 8 to be grabbed can be firmly connected when acting on the surface of the object 8 to be grabbed.
The shape of the grabbing hole 113 may be selected according to the shape of the outline of the actual object 8 to be grabbed, and the user may select a suitable shape of the grabbing hole 113 according to the actual situation.
Further, as shown in fig. 3, the grabbing hole 113 is a circular hole, the circular hole is suitable for clamping the columnar or columnar-like object 8 to be grabbed, and the elastic film sleeve 11 of the circular hole can better ensure the contact area between the elastic film sleeve 11 and the object 8 to be grabbed, so that the friction force between the elastic film sleeve 11 and the object 8 to be grabbed is ensured, and the object 8 to be grabbed is well matched with the elastic film sleeve 11.
Further, as shown in fig. 4, the grabbing hole 113 is a conformal hole, and according to the shape of the irregularly shaped object 8 to be grabbed, the contour of the grabbing hole 113 corresponds to the contour of the object 8 to be grabbed, so as to ensure the contact area between the elastic membrane sleeve 11 and the object 8 to be grabbed.
As an alternative manner of this embodiment, as shown in fig. 4 and 5, a plurality of buffer slits 114 are formed in the circumferential direction of the grabbing hole 113, and since the size of the grabbing hole 113 is smaller than the outline size of the object 8 to be grabbed, the elastic membrane sleeve 11 is elastically deformed when the object 8 to be grabbed is grabbed, and the elastic buffer slits 114 are provided, so that the elastic membrane sleeve 11 can better act on the surface of the object 8 to be grabbed when being deformed, and the contact area and acting force between the elastic membrane sleeve 11 and the object 8 to be grabbed are ensured.
As an alternative manner of this embodiment, two elastic film sleeves 11 are provided, as shown in fig. 6, the two elastic film sleeves 11 are distributed at intervals along the axis direction of the support 10, and the arrangement of the two elastic film sleeves 11 is applicable to the elongated columnar part (the object 8 to be grabbed), so that the contact area between the elastic film sleeves 11 and the object 8 to be grabbed is increased, and the stability of clamping is enhanced. As shown in fig. 7, two elastic film sleeves 11 are schematically shown acting on the object 8 to be grasped.
In the present embodiment, the holder 10 is provided with the ejection hole 102 corresponding to the grasping portion 112, the ejection hole 102 communicates with the accommodating chamber 101, and the ejection hole 102 is provided corresponding to the center of the grasping hole 113. When the elastic film sleeve 11 is sleeved on the object 8 to be grabbed, the ejector column 7 is arranged in the ejector hole 102, the ejector column 7 is driven by the driving piece to move towards the object 8 to be grabbed relative to the bracket 10, and the ejector column 7 stretches into the accommodating cavity 101 and acts on the object 8 to be grabbed, so that the object 8 to be grabbed can be taken down. In order to avoid damaging the surface of the object 8 to be grasped by the ejector pin 7, the end of the ejector pin 7 for contact with the object 8 to be grasped is provided with a rubber pad 71.
The working principle of the embodiment of the invention is as follows:
an elastic film sleeve 11 is arranged at the end part of the support 10, the elastic film sleeve 11 is sleeved on the inner wall of the support 10, the elastic film sleeve 11 is provided with a grabbing hole 113, and the support 10 is connected with a moving mechanism. In the grabbing process, the moving mechanism moves the flexible clamp 100 to the upper part of the object 8 to be grabbed, and moves the flexible clamp 100 downwards, so that the elastic membrane sleeve 11 contacts and clamps the object 8 to be grabbed; the object 8 to be grabbed is moved to a required position, and the ejection column 7 is controlled by using an air cylinder or other components to eject the object 8 to be grabbed, so that grabbing is completed.
It should be noted that, in other embodiments of the present invention, the elastic film cover 11 may be correspondingly disposed along a horizontal direction to achieve grabbing of the object 8 in the horizontal direction; in addition, the elastic film cover 11 may be combined in both the horizontal direction and the vertical direction to grasp the object 8 in any direction.
According to the flexible clamp 100, the elastic film sleeve 11 is sleeved outside the object 8 to be grabbed, and the clamping or moving of the object 8 to be grabbed in the conventional shape and the special shape is realized through the elastic deformation of the elastic film sleeve 11 and the friction force between the elastic film sleeve 11 and the object 8 to be grabbed, so that the application range of the clamp is improved, and the surface damage of the object 8 to be grabbed is avoided.
Second embodiment
The researchers have studied that, on the basis of the first embodiment, the following optional other structural schemes can be made on the flexible fixture 100 provided by the present invention, and the following specific description is as follows:
as shown in fig. 8, in the present embodiment, the elastic membrane sleeve 12 has a circular membrane structure, the elastic membrane sleeve 12 is sleeved on the inner wall of the bracket 10, and the base 111 is connected with the inner wall of the bracket 10; the grabbing portion 112 comprises a plurality of grabbing fingers 121, the grabbing fingers 121 are rotationally symmetrical along the center of the elastic membrane sleeve 11, grabbing holes 113 are formed in the free ends of the grabbing fingers 121, buffer grooves 122 are formed between two adjacent grabbing fingers 121, friction force between the elastic membrane sleeve 12 and the grabbed object 8 is increased by the grabbing fingers 121, the elastic membrane sleeve is applicable to the columnar grabbed object 8 with irregular surfaces, firm connection between the elastic membrane sleeve 12 and the grabbed object 8 is guaranteed, and deformation of the elastic membrane sleeve 12 is conveniently achieved through the buffer grooves 122, so that the elastic membrane sleeve 12 is clamped more flexibly.
Compared with the first embodiment, the embodiment is suitable for the object 8 with the irregular columnar structure on the surface, and improves the connection stability of the elastic membrane sleeve 12 and the object 8.
Third embodiment
The researchers have studied that, on the basis of the first embodiment, the following optional other structural schemes can be made on the flexible fixture 300 provided by the present invention, and the following specific descriptions are as follows:
as shown in fig. 9 and 10, in the present embodiment, the support 30 has a columnar structure, the elastic membrane sleeve 31 is sleeved outside the support 30, the base 311 is located in the middle of the elastic membrane sleeve 31, and the base 311 is sleeved on the outer wall of the support 30. The edge of the elastic film cover 31 forms a gripping portion 312, the gripping portion 312 is used for gripping the gripped object 8 having the cavity 81, and the outline size of the elastic film cover 31 is larger than the outline size of the cavity 81 of the gripped object 8. When the object 8 having the cavity 81 is moved, the elastic film sleeve 31 moves into the cavity 81 and cooperates with the inner wall of the object 8, and the object 8 is clamped by the deformation of the elastic film sleeve 31 and the friction force between the elastic film sleeve 31 and the object 8.
When the inner support type grabbing is adopted, the edge of the elastic membrane sleeve 31 forms an enclosed space, the enclosed space is larger than the inner diameter size of the grabbed object 8, the end part of the support 30 is arranged in the center of the cavity 81 of the grabbed object 8, and the end part size of the support 30 is smaller than the inner diameter size of the grabbed object 8.
In this embodiment, in order to facilitate the separation of the object 8 from the elastic film sleeve 31, the support 30 is connected with the ejector post 7, and the ejector post 7 is slidably connected with the support 30, where the ejector post 7 may be disposed through the support 30 or sleeved outside the support 30, so long as the ejector post 7 is close to the elastic film sleeve 31 relative to the support 30 and acts on the object 8.
As an alternative way of this embodiment, an ejection hole 302 is provided in the middle of the support 30, an ejection column 7 is slidably provided in the ejection hole 302, one end of the ejection column 7 is connected with a driving cylinder, and when the object 8 to be grabbed moves to a designated position, the driving cylinder can drive the ejection column 7 to approach the object 8 to be grabbed relative to the support 30 and eject the object 8 to be grabbed, so that the object 8 to be grabbed is separated from the elastic film sleeve 31, and transfer of the object 8 to be grabbed is realized.
The working process of the embodiment of the invention is as follows:
moving the flexible clamp 300 to the upper part of the opening of the object 8 to be grabbed, and moving the flexible clamp 300 downwards to enable the elastic membrane sleeve 31 to contact the inner wall of the object 8 to be grabbed and clamp the object 8 to be grabbed; and the object 8 to be grabbed is moved to a required position, and the cylinder is used for controlling the ejection column 7 to eject the object 8 to be grabbed, so that grabbing is completed.
It should be noted that, the manner of grabbing the object by the flexible fixture 300 may be vertical, horizontal, or a combination of vertical and horizontal, and the user may select the setting direction of the elastic film sleeve 31 according to the actual situation, so as to grab the object in any direction.
Fourth embodiment
Referring to fig. 11, the present embodiment provides a flexible fixture 400, which includes a bracket 40 and at least one elastic membrane sleeve 41.
As shown in fig. 11 and 12, the support 40 is provided with a plurality of through holes 401 distributed in a matrix, the support 40 is in a plate structure, the support 40 comprises a first plate 402 and a second plate 403, the elastic film sleeve 11 is located between the first plate 402 and the second plate 403, the elastic film sleeve 41 is respectively connected with the first plate 402 and the second plate 403, the elastic film sleeve 41 is provided with a plurality of grabbing holes 413 corresponding to the through holes 401, the diameter of the grabbing holes 413 is smaller than that of the through holes 401, and grabbing portions 412 for grabbing the object 8 are formed at edges of the grabbing holes 413. The flexible mold is equivalent to the grabbing parts 112 in the first embodiment, which are arranged in a matrix, and is suitable for simultaneously grabbing cylindrical parts (grabbed objects 8) arranged in an array. Meanwhile, each through hole 401 is correspondingly provided with an ejection column 7, and the ejection column 7 is slidably connected with the bracket 40.
When the cylindrical objects 8 arranged in an array are grabbed, the flexible fixture 100 of the first embodiment is adopted, so that multiple grabbing is needed, and time is wasted; the flexible fixture 400 provided in this embodiment can be correspondingly arranged and grabbed, and when in use, the through holes 401 of the bracket 40 are correspondingly placed on the object 8 to be grabbed, the bracket 40 is moved towards the object 8 to be grabbed through the moving mechanism, the elastic membrane sleeve 41 is enabled to be contacted with the object 8 to be grabbed and clamped, the object 8 to be grabbed is moved to a required position, the ejection column 7 is controlled by the air cylinder to eject the object 8 to be grabbed, and grabbing is completed.
It should be noted that, in order to achieve the transfer of the plurality of objects 8 to be grasped, the manner of grasping the object by the elastic membrane sleeve 41 of the flexible clamp 400 is performed in the vertical direction, so that the placement of the plurality of objects 8 to be grasped is facilitated.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The flexible clamp is characterized by comprising a bracket and at least one elastic film sleeve, wherein the elastic film sleeve is arranged at the end part of the bracket, the elastic film sleeve comprises a base and a grabbing part for grabbing an object to be grabbed, the grabbing part is connected with the base, and the base is propped against the inner wall of the bracket;
the support comprises a containing cavity with one end open, at least one elastic membrane sleeve is distributed along the axis direction of the support, the elastic membrane sleeve is positioned in the containing cavity and positioned at the open end of the containing cavity, the base is propped against the inner wall of the support, and the grabbing part is positioned in the middle of the elastic membrane sleeve;
the support is provided with an ejection hole corresponding to the grabbing part, and the ejection hole is communicated with the accommodating cavity;
the elastic film sleeve is provided with a grabbing hole, and the grabbing part is formed at the edge of the grabbing hole;
the grabbing part comprises a plurality of grabbing fingers, the grabbing fingers are rotationally symmetrical along the center of the elastic membrane sleeve, the free ends of the grabbing fingers form grabbing holes, and a buffer groove is formed between two adjacent grabbing fingers;
the grabbing holes of the elastic membrane sleeve form an enclosed space, the enclosed space is matched with the shape of the grabbed object, and the enclosed space of the elastic membrane sleeve is smaller than the outline size of the grabbed object.
2. The flexible clip of claim 1, wherein the gripping aperture is a circular aperture or a conformal aperture.
3. The flexible clip of claim 2, wherein two of said elastic membrane sleeves are spaced apart along the axis of said bracket.
4. The flexible clamp is characterized by comprising a bracket and at least one elastic film sleeve, wherein the elastic film sleeve is arranged at the end part of the bracket, the elastic film sleeve comprises a base and a grabbing part for grabbing an object to be grabbed, the grabbing part is connected with the base, and the base is sleeved on the outer wall of the bracket;
the support is of a columnar structure, the elastic membrane sleeve is sleeved outside the support, the base is positioned in the middle of the elastic membrane sleeve, and the base is sleeved on the outer wall of the support;
the edge of the elastic film sleeve forms a grabbing part, the grabbing part is used for grabbing a grabbed object with a cavity, and the outline size of the elastic film sleeve is larger than that of the cavity of the grabbed object;
when the object to be grabbed with the cavity is moved, the elastic film sleeve moves into the cavity and is matched with the inner wall of the object to be grabbed, and the object to be grabbed is clamped through deformation of the elastic film sleeve and friction force between the elastic film sleeve and the object to be grabbed; the flexible clamp can clamp the object to be grabbed only by using the elastic membrane sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811159259.5A CN108890685B (en) | 2018-09-30 | 2018-09-30 | Flexible clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811159259.5A CN108890685B (en) | 2018-09-30 | 2018-09-30 | Flexible clamp |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108890685A CN108890685A (en) | 2018-11-27 |
| CN108890685B true CN108890685B (en) | 2024-02-20 |
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| CN201811159259.5A Active CN108890685B (en) | 2018-09-30 | 2018-09-30 | Flexible clamp |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606878A (en) * | 2018-12-29 | 2019-04-12 | 楚天科技股份有限公司 | A kind of plastic film clamp device and its system and method |
| CN109648592A (en) * | 2019-02-28 | 2019-04-19 | 苏州明志科技有限公司 | A kind of grasping mechanism |
| CN113492415B (en) * | 2020-04-02 | 2024-05-28 | 运鼎科技（北京）有限公司 | Clamping jaw |
| CN113635331B (en) * | 2021-08-11 | 2023-01-20 | 北京工业大学 | Clamping mechanism and flexible manipulator |
| CN113878508B (en) * | 2021-09-08 | 2023-04-28 | 上海精测半导体技术有限公司 | Clamping device of charged particle emitter |
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| CN108890685A (en) | 2018-11-27 |
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